int16 EMPTY_TYPE = 0               # 
int16 NECK_TYPE  = 1               # 
int16 TAIL_TYPE  = 2               # 
int16 LEG_TYPE   = 3               #

int16 LEG1_THIGH = 0               #
int16 LEG1_CALF  = 4               #
int16 LEG2_THIGH = 1               #
int16 LEG2_CALF  = 5               #
int16 LEG3_THIGH = 2               #
int16 LEG3_CALF  = 6               #
int16 LEG4_THIGH = 3               #
int16 LEG4_CALF  = 7               #
int16 LEG_STERR_NUMBER = 8         #

int16 NECK_LEFT_RIGHT   = 8        #
int16 NECK_UP_DOWN      = 9        #
int16 NECK_STERR_NUMBER = 2        #

int16 TAIL_UP_DOWN    = 12         #
int16 TAIL_STERR_NUMBER = 1        #

int16 type                         # action type
int16 number                       # steer number
int16[] steer                      # steer serial
int16[] angle                      # steer angle
